US 12,241,747 B2
Worldwide coordinate frame defined by data set correspondences
Bryan Klingner, Austin, TX (US); David Martin, Oakland, CA (US); Veselin Dikov, San Jose, CA (US); Joakim Kristian Olle Arfvidsson, Los Altos, CA (US); and James Brian Roseborough, Piedmont, CA (US)
Assigned to GOOGLE LLC, Mountain View, CA (US)
Appl. No. 17/621,866
Filed by Google LLC, Mountain View, CA (US)
PCT Filed Jun. 26, 2019, PCT No. PCT/US2019/039278
§ 371(c)(1), (2) Date Dec. 22, 2021,
PCT Pub. No. WO2020/263248, PCT Pub. Date Dec. 30, 2020.
Prior Publication US 2022/0244056 A1, Aug. 4, 2022
Int. Cl. G01C 21/32 (2006.01); G06T 7/33 (2017.01); G06V 10/80 (2022.01)
CPC G01C 21/32 (2013.01) [G06T 7/33 (2017.01); G06V 10/803 (2022.01); G06T 2207/10032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for generating a geodetic datum for a portion of Earth, the method comprising:
obtaining, by one or more computing devices comprising one or more processors, a set of datum coordinates derived from a reference dataset comprising geographic data corresponding to a first part of the portion of the Earth;
obtaining, by the one or more computing devices, a second dataset containing sensor data corresponding to a second part of the portion of the Earth, wherein the second part of the portion of the Earth at least partially overlaps with the first part of the portion of the Earth;
determining, by the one or more computing devices, based on inputting the reference dataset and the second dataset into one or more machine-learned alignment models, a set of correspondences between the reference dataset and the second dataset, wherein the set of correspondences comprise spatial features of the reference dataset that correspond to spatial features of the second dataset;
determining, by the one or more computing devices, based on mapping the spatial features of the reference dataset to the spatial features of the second dataset, a set of transform coordinates for the second dataset based at least in part on the set of correspondences; and
updating, by the one or more computing devices, the set of datum coordinates to include the set of transform coordinates, wherein the updating comprises modifying the set of datum coordinates to include the transform coordinates.